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enable takeoff in gps denied areas and minor requested changes

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ChristophTobler
2017-02-13 21:11:25 +01:00
committed by Lorenz Meier
parent 64092f087f
commit 0263ab8cd2
3 changed files with 19 additions and 24 deletions
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src/modules/commander/state_machine_helper.cpp
+7 -6
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@@ -77,6 +77,7 @@ static const char reason_no_rc_and_no_offboard[] = "no RC and no offboard";
static const char reason_no_gps[] = "no gps"; static const char reason_no_gps[] = "no gps";
static const char reason_no_gps_cmd[] = "no gps cmd"; static const char reason_no_gps_cmd[] = "no gps cmd";
static const char reason_no_home[] = "no home"; static const char reason_no_home[] = "no home";
static const char reason_no_local_position[] = "no local position";
static const char reason_no_datalink[] = "no datalink"; static const char reason_no_datalink[] = "no datalink";
// This array defines the arming state transitions. The rows are the new state, and the columns // This array defines the arming state transitions. The rows are the new state, and the columns
@@ -940,13 +941,13 @@ bool set_nav_state(struct vehicle_status_s *status,
case commander_state_s::MAIN_STATE_AUTO_TAKEOFF: case commander_state_s::MAIN_STATE_AUTO_TAKEOFF:
/* require global position and home */ /* require local position */
if (status->engine_failure) { if (status->engine_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status_flags->gps_failure || !status_flags->condition_local_position_valid) { } else if (!status_flags->condition_local_position_valid) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_gps); enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_local_position);
if (status_flags->condition_local_position_valid) { if (status_flags->condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND; status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
@@ -966,13 +967,13 @@ bool set_nav_state(struct vehicle_status_s *status,
case commander_state_s::MAIN_STATE_AUTO_LAND: case commander_state_s::MAIN_STATE_AUTO_LAND:
/* require global position and home */ /* require local position */
if (status->engine_failure) { if (status->engine_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL; status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status_flags->gps_failure || !status_flags->condition_local_position_valid) { } else if (!status_flags->condition_local_position_valid) {
enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_gps); enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_local_position);
if (status_flags->condition_local_altitude_valid) { if (status_flags->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND; status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
src/modules/navigator/mission_block.cpp
+1 -7
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@@ -711,13 +711,7 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
if (at_current_location) { if (at_current_location) {
item->lat = _navigator->get_global_position()->lat; item->lat = _navigator->get_global_position()->lat;
item->lon = _navigator->get_global_position()->lon; item->lon = _navigator->get_global_position()->lon;
item->yaw = _navigator->get_local_position()->yaw;
if (_navigator->home_position_valid()) {
item->yaw = _navigator->get_global_position()->yaw;
} else {
item->yaw = _navigator->get_local_position()->yaw;
}
/* use home position */ /* use home position */
src/modules/navigator/navigator.h
+11 -11
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@@ -134,20 +134,20 @@ public:
/** /**
* Getters * Getters
*/ */
struct vehicle_status_s *get_vstatus() { return &_vstatus; } struct vehicle_status_s *get_vstatus() { return &_vstatus; }
struct vehicle_land_detected_s *get_land_detected() { return &_land_detected; } struct vehicle_land_detected_s *get_land_detected() { return &_land_detected; }
struct vehicle_control_mode_s *get_control_mode() { return &_control_mode; } struct vehicle_control_mode_s *get_control_mode() { return &_control_mode; }
struct vehicle_global_position_s *get_global_position() { return &_global_pos; } struct vehicle_global_position_s *get_global_position() { return &_global_pos; }
struct vehicle_local_position_s *get_local_position() { return &_local_pos; } struct vehicle_local_position_s *get_local_position() { return &_local_pos; }
struct vehicle_gps_position_s *get_gps_position() { return &_gps_pos; } struct vehicle_gps_position_s *get_gps_position() { return &_gps_pos; }
struct sensor_combined_s *get_sensor_combined() { return &_sensor_combined; } struct sensor_combined_s *get_sensor_combined() { return &_sensor_combined; }
struct home_position_s *get_home_position() { return &_home_pos; } struct home_position_s *get_home_position() { return &_home_pos; }
bool home_position_valid() { return (_home_pos.timestamp > 0); } bool home_position_valid() { return (_home_pos.timestamp > 0); }
struct position_setpoint_triplet_s *get_position_setpoint_triplet() { return &_pos_sp_triplet; } struct position_setpoint_triplet_s *get_position_setpoint_triplet() { return &_pos_sp_triplet; }
struct position_setpoint_triplet_s *get_reposition_triplet() { return &_reposition_triplet; } struct position_setpoint_triplet_s *get_reposition_triplet() { return &_reposition_triplet; }
struct position_setpoint_triplet_s *get_takeoff_triplet() { return &_takeoff_triplet; } struct position_setpoint_triplet_s *get_takeoff_triplet() { return &_takeoff_triplet; }
struct mission_result_s *get_mission_result() { return &_mission_result; } struct mission_result_s *get_mission_result() { return &_mission_result; }
struct geofence_result_s *get_geofence_result() { return &_geofence_result; } struct geofence_result_s *get_geofence_result() { return &_geofence_result; }
struct vehicle_attitude_setpoint_s *get_att_sp() { return &_att_sp; } struct vehicle_attitude_setpoint_s *get_att_sp() { return &_att_sp; }
int get_onboard_mission_sub() { return _onboard_mission_sub; } int get_onboard_mission_sub() { return _onboard_mission_sub; }